Connected and Automated Vehicles

Modeling and Control of Articulated Vehicles

Chen, Chieh
Tomizuka, Masayoshi
1997

This report focuses on dynamic modeling and lateral control of commercial heavy-duty vehicles for highway automation. Two types of dynamic models are developed in the study of lateral control of tractor-semitrailer vehicles in an Automated Highway System (AHS): a complex simulation model and two simplified control models. Two control algorithms for lateral guidance are designed. The first is a baseline steering control algorithm and the second is a coordinated steering and independent braking control algorithm.

Methods of Analysis of IVHS Safety

Hitchcock, Anthony
1992

This is the final and primary report of a PATH project which focused on developing and demonstrating methods by which the safety of Intelligent Vehicle Highway Systems (IVHS) can be assured, assessed and evaluated. Safety considerations were studied for automated freeways, driver aids, and copilots.

Message Volumes for Two Examples of Automated Freeway

Hitchcock, Anthony
1993

In this paper, calculations are made of the volume of messages transmitted between vehicles or between vehicles and the infrastructure, in order to estimate the demand of advanced vehicle control systems (AVCS) for frequency allocations. Two previous conceptual designs for an automated freeway are used to provide a basis for calculations.

Longitudinal Model Development for Automated Roadway Vehicles

Mcmahon, Donn H.
Hedrick, J. K.
1990

In today’s society minimizing the use of the roadways is becoming an issue of increasing concern.Many major cities in the US are plagued with such problems as traftic congestion, poor air quality, andsafety problems. To solve these problems research throughout the world is being conducted on the use ofautomated roadways.Currently in the state of California research is being conducted involving several major institutionsas to the feasibility of the automated roadway. The Program on Advanced Technology for the Highway,PATH, aims to increase the capacity of the most used highways, to decrease...

Longitudinal Control of a Platoon of Vehicles. II, First and Second Order Time Derivatives of Distance Deviations

Sheikholeslam, Shahab
Desoer, Charles A.
1989

This report is an addendum to PATH Research ReportUCB-ITS-PRR-89-3.

Longitudinal Control Development for IVHS Fully Automated and Semi-Automated Systems: Phase II

Hedrick, J. K.
Garg, V.
Gerdes, J. C.
Maciuca, D. B.
Swaroop, D.
1996

This report studies performance issues in Automated Vehicle Control Systems (AVCS). Specifically, it addresses the automatic braking controller design issues, effects of braking on Intelligent Vehicle Highway Systems (IVHS) lane capacity, performance of platoons with various information structures, and fault detection filter design for AVCS.

Longitudinal Control Development for IVHS Fully Automated and Semi-Automated Systems - Phase 1

Hedrick, J. K.
Mcmahnon, D.
Swaroop, D.
Garg, V.
Gerdes, J.
Maciuca, D.
Blackman, T.
Yip, P.
1995

This report addresses some of the important longitudinal vehicle modeling and control issues of Advanced Vehicle Control Systems (AVCS) such as brake dynamic model development and validation, decentralized longitudinal control algorithms which guarantee the stability of the entire platoon and fault detection and isolation in the longitudinal vehicle dynamics of controlled vehicles.

Longitudinal Control Development for IVHS Fully Automated and Semi-Automated System: Phase III

Hedrick, J. K.
Garg, V.
Gerdes, J. C.
Maciuca, D. B.
Swaroop, D.
1997

This report focuses on longitudinal issues regarding modeling and control of vehicles in an Intelligent Transportation Systems (ITS) setting. Specifically, the report addresses the issue of vehicle control in an automated highway system, brake actuation and brake control. Recent research findings in the area of automated vehicle platooning on isolated lanes of an automated highway are included. Performance specifications, control system architecture, vehicle control algorithms, actuator and sensor specifications and communication requirements are also discussed. The report also addresses...

Longitudinal and Lateral Throughput on an Idealized Highway

Hall, Randolph W.
1993

The objective of this paper is to develop a throughput model of a multiple- lane Automated Highway System (AHS) with lane changes. The paper uses deterministic approximations to model highway throughput, accounting for both longitudinal and lateral requirements. The model is designed to account for trip-length distributions, and the effect of these distributions on the rate of lane changes between each pair of adjacent lanes. To illustrate fundamental principles, the model is applied to an idealized highway operating under sanitary conditions, both in time and space. Parametric analysis is...

Lateral Control of Tractor-semitrailer Vehicles in Automated Highway Systems

Chen, Chien
Tomizuka, Masayoshi
1996

In this paper, linear quadratic optimal control with and without frequency shaping is utilized to design a steering controller for tractor- semitrailer vehicles in Automated Highway Systems (AHS). To enhance driving safety, the authors propose to use independent braking forces in the trailer as another control input. The combined steering and braking controller is designed by utilizing Input/Output linearization and backstepping design techniques.